Objective:To solve the problems of low control accuracy and poor motion stability in the trajectory tracking control method of parallel food sorting robots.Methods:On the basis of analyzing the structure of a four degree of freedom parallel robot,a combination of sliding mode control algorithm,fuzzy control algorithm,and improved bat algorithm was proposed for trajectory tracking control of a parallel food sorting robot.Optimizing the bandwidth of fuzzy algorithms by improving the bat algorithm,and adaptively adjusting the fuzzy gain and sliding surface slope of the sliding membrane control algorithm through the optimized fuzzy control algorithm.the tracking error of the controller was reduced,improve anti-interference ability,and verify the superiority of the proposed trajectory tracking control method.Results:The proposed trajectory tracking control method had an actual sorting accuracy of 99.90％and an average sorting time of 0.509 seconds.Conclusion:Compared with conventional methods,the proposed trajectory tracking control method has higher joint trajectory tracking accuracy,stronger anti-interference ability,and smoother output torque.
关键词
并联机器人/轨迹跟踪/滑模控制算法/模糊控制器/蝙蝠算法/四自由度
Key words
parallel robots/trajectory tracking/sliding mode control algorithm/fuzzy controller/bat algorithm/four degrees of freedom
维普
万方数据